SeonghuJeon/mimicgen-aligned-gt-depth

MimicGen Aligned GT Depth Sidecars Per-frame ground-truth simulator depth for the MimicGen demonstration set, aligned to the original RGB demo frames. Generated by replaying each demo's HDF5 simulator states with robosuite + MuJoCo EGL rendering. Producer: scripts/export_mimicgen_aligned_gt_depth.py in the 3DA_unified training repo. Original MimicGen data: https://mimicgen.github.io/ (CC BY 4.0). Layout 26 tasks x ~1000 demos = ~26000 NPZ files, all at the repo… See the full description on the dataset page: https://huggingface.co/datasets/SeonghuJeon/mimicgen-aligned-gt-depth.